Drilling System and Method of Operation for Same

ABSTRACT

A drilling system includes a drilling assembly and a control assembly. The control assembly is operably connected to the drilling assembly such that simultaneous movement of multiple portions of the drilling assembly is enabled.

TECHNICAL FIELD

This patent disclosure relates generally to drilling systems and, more particularly, to a control assembly for a drilling system, and methods for operating the same.

BACKGROUND

Drilling systems with multiple component drilling assemblies are known. Known drilling systems include a control assembly wherein an input received through a control mechanism, for example moving or actuating a joystick in a lateral direction, moves a first component of the drilling assembly, and the same input, moving the joystick in the lateral direction, moves a second component of the drilling assembly when an auxiliary input, for example a button is pushed, on the control mechanism.

As a result, simultaneous movement of both the first component and the second component is not possible using conventional approaches. A drilling system including a control assembly operably connected to a drilling assembly such that simultaneous movement of multiple components of the drilling assembly is enabled could reduce the amount of time required to move the drilling assembly to a desired position which may result in more efficient use of the drilling system.

It will be appreciated that this background description has been created to aid the reader, and is not to be taken as an indication that any of the indicated problems were themselves known in the art.

SUMMARY

According to an aspect of the disclosure, a drilling system comprises a base, a drilling assembly, and a control assembly. The drilling assembly is coupled to the base and the drilling assembly includes a boom and a feed. The boom defines a first boom pivot axis and a second boom pivot axis offset with respect to the first boom pivot axis. The boom includes a boom body coupled to the base such that the boom body is pivotable relative to the base about the first boom pivot axis and the boom body is pivotable relative to the base about the second boom pivot axis. The feed defines a first feed pivot axis and a second feed pivot axis offset with respect to the first feed pivot axis. The feed includes a feed body coupled to the boom such that the feed body is pivotable relative to the boom about the first feed pivot axis and the feed body is pivotable relative to the boom about the second feed pivot axis.

The control assembly is operably connected to the drilling assembly, and the control assembly includes a first control mechanism and a second control mechanism. The first control mechanism is configured to be actuated in a first direction and a second direction, and the first control mechanism is operably connected to the boom such that actuation of the first control mechanism along the first direction pivots the boom body relative to the base about the first boom pivot axis and actuation of the first control mechanism along the second direction pivots the boom body relative to the base about the second boom pivot axis. The second control mechanism is configured to be actuated in a third direction and a fourth direction, and the second control mechanism is operably connected to the feed such that actuation of the second control mechanism along the third direction pivots the feed body relative to the boom about the first feed pivot axis and actuation of the second control mechanism along the fourth direction pivots the feed body relative to the boom about the second feed pivot axis. The control assembly is configured to simultaneously pivot the boom body about at least one of the first boom pivot axis and the second boom pivot axis in response to an input from the first control mechanism and pivot the feed body about at least one of the first feed pivot axis and the second feed pivot axis in response to an input from the second control mechanism.

According to another aspect of the disclosure, a drilling system comprises a base, a drilling assembly, and a control assembly. The drilling assembly is coupled to the base and the drilling assembly includes a boom and a feed. The boom defines a boom proximal end, a boom distal end, a boom pivot axis and a boom longitudinal axis offset with respect to the boom pivot axis, and the boom includes a boom body that extends from the boom proximal end to the boom distal end such that the boom body is elongate along the boom longitudinal axis. The boom is coupled to the base such that the boom body is pivotable relative to the base about the boom pivot axis and the distal end of the boom body is translatable relative to the base along the boom longitudinal axis. The feed defines a feed pivot axis and a feed longitudinal axis offset with respect to the feed pivot axis, and the feed includes a portion that is elongate along the feed longitudinal axis. The feed is coupled to the boom such that the feed body is pivotable relative to the boom about the feed pivot axis and the feed body is translatable relative to the boom along the feed longitudinal axis.

The control assembly is operably connected to the drilling assembly, and the control assembly includes a first control mechanism and a second control mechanism. The first control mechanism is configured to be actuated in a first direction and a second direction, and the first control mechanism is operably connected to the boom such that actuation of the first control mechanism along the first direction pivots the boom body relative to the base about the boom pivot axis and actuation of the first control mechanism along the second direction translates the boom body relative to the base along the boom longitudinal axis. The second control mechanism is configured to be actuated in a third direction and a fourth direction, and the second control mechanism is operably connected to the feed such that actuation of the second control mechanism along the third direction pivots the feed body relative to the boom about the feed pivot axis and actuation of the second control mechanism along the fourth direction translates the feed body relative to the boom along the feed longitudinal axis. The control assembly is configured to simultaneously pivot the boom body about the boom pivot axis or translate the boom body along the boom longitudinal axis in response to an input from the first control mechanism, and pivot the feed body about the feed pivot axis or translate the feed body along the feed longitudinal axis in response to an input from the second control mechanism.

According to another aspect of the disclosure, a method for operating a drilling system that comprises a base, a drilling assembly coupled to the base, and a control assembly operably connected to the drilling assembly, is disclosed. The drilling assembly includes a boom and a feed, the boom defines a first boom pivot axis and a second boom pivot axis offset from the first boom pivot axis. The boom includes a boom body, and the boom is coupled to the base such that the boom body is both pivotable relative to the base about the first boom pivot axis and pivotable relative to the base about the second boom pivot axis. The feed defines a first feed pivot axis and a second feed pivot axis that is offset to the first feed pivot axis, and the feed includes a feed body. The feed is coupled to the boom such that the feed body is both pivotable relative to the boom about the first feed pivot axis and pivotable relative to the boom about the second feed pivot axis.

The method comprises the step of actuating a first control mechanism of the control assembly in a first direction, thereby pivoting the boom body about the first boom pivot axis. The method further comprises the step of actuating the first control mechanism in a second direction, thereby pivoting the boom body about the second boom pivot axis. The method further comprises the step of actuating a second control mechanism of the control assembly in a third direction, thereby pivoting the feed body relative to the boom body about the first feed pivot axis. The method further comprises the step of actuating the second control mechanism in a fourth direction, thereby pivoting the feed body relative to the boom body about the second feed pivot axis. According to the method, at least one of the steps of actuating the first control mechanism is performed simultaneously with at least one of the steps of actuating the second control mechanism.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric view of a machine, according to an aspect of the disclosure;

FIG. 2 is a an isometric view of a drilling assembly, according to an aspect of the disclosure;

FIG. 3 is an isometric view of a control assembly of the drilling system according to an aspect of the disclosure; and

FIG. 4 is an isometric view of a first control mechanism of the control assembly according to an aspect of the disclosure;

FIG. 5 is an isometric view of a second control mechanism of the control assembly according to an aspect of the disclosure; and

FIG. 6 is an isometric view of a third control mechanism of the control assembly according to an aspect of the disclosure.

DETAILED DESCRIPTION

Aspects of the disclosure will now be described in detail with reference to the drawings, wherein like reference numbers refer to like elements throughout, unless specified otherwise. Certain terminology is used in the following description for convenience only and is not limiting. The term “plurality”, as used herein, means more than one. Certain features of the disclosure which are described herein in the context of separate embodiments may also be provided in combination in a single embodiment. Conversely, various features of the disclosure that are described in the context of a single embodiment may also be provided separately or in any subcombination.

Referring to FIG. 1, a machine 10 may be a drilling system that includes a drilling assembly 100 and a control assembly 200. The machine 10 may further include a frame 12 and a cab 14 mounted to the frame 12. The cab 14 may be configured to at least partially, for example entirely, enclose the control assembly 200 and an operator of the machine 10. The machine 10 may further include a base 16 coupled to the frame 12, the drilling assembly 100 configured to be mounted to the base 16.

In use, according to an aspect of the disclosure, the machine 10 is mobile and is configured to be positioned, for example driven, to a drilling site. As shown, the machine 10 may include a plurality of tires 18. Once the machine 10 is positioned at the drilling site, input to the control assembly 200 moves the drilling assembly 100 as described in greater detail below.

The machine 10 may further include a controller 20, such as a computer processor or electronic control module, configured to convert an input received by the control assembly 200 to an output that moves at least a portion of the drilling assembly 100. The machine 10 may be configured such that any of the functions described herein can be controlled by the controller 20.

According to one aspect of the disclosure the machine 10 includes a single drilling assembly 100. According to another aspect of the disclosure, the machine 10 may include a plurality of drilling assemblies 100, for example a first drilling assembly 100 a and a second drilling assembly 100 b. As shown, the first drilling assembly 100 a is mounted to a first base 16 a and the second drilling assembly 100 b is mounted to a second base 16 b. The description of the drilling assembly 100 throughout the disclosure is applicable to each of the one or more drilling assemblies 100 of the machine 10.

According to one aspect of the disclosure, the machine 10 includes a single control assembly 200. The single control assembly 200 may be configured to move the single drilling assembly 100, one of the plurality of drilling assemblies 100, or a plurality of the plurality of drilling assemblies 100. According to another aspect of the disclosure, the machine 10 may include a plurality of control assemblies 200. The plurality of control assemblies 200 may include, for example, a first control assembly and a second control assembly. Each of the plurality of control assemblies 200 may be configured to move the single drilling assembly 100, one of the plurality of drilling assemblies 100, or a plurality of the plurality of drilling assemblies 100.

Referring to FIG. 2, the drilling assembly 100, according to an aspect of the disclosure, defines an assembly proximal end 102 coupled to the base 16, an assembly distal end 104, and an assembly body 106 extending from the assembly proximal end 102 to the assembly distal end 104. The assembly body 106 includes a first portion, for example a boom 120. The boom 120 defines a boom proximal end 122, a boom distal end 124, a boom longitudinal axis 126, and a boom body 128. As shown in the illustrated embodiment, the boom body 128 extends from the boom proximal end 122 to the boom distal end 124 such that the boom body 128 is elongate along the boom longitudinal axis 126. According to one aspect of the disclosure, the boom body 128 is telescopic such that a length L1 of the boom body 128 measured from the boom proximal end 122 to the boom distal end 124 along the boom longitudinal axis 126 may be increased or decreased.

The boom 120 may further define a first boom pivot axis 130 and a second boom pivot axis 132. According to one aspect of the disclosure the first boom pivot axis 130 is offset with respect to the second boom pivot axis 132 such that the first boom pivot axis 130 is non-coincident with the second boom pivot axis 132. According to one aspect of the disclosure the first boom pivot axis 130 is offset with respect to the second boom pivot axis 132 such that the first boom pivot axis 130 is perpendicular to the second boom pivot axis 132.

The boom 120 may be coupled to the base 16 such that the boom body 128 is pivotable relative to the base 16 about the first boom pivot axis 130, the boom body 128 is pivotable relative to the base 16 about the second boom pivot axis 132, the boom distal end 124 is translatable relative to the base 16 along the boom longitudinal axis 126, or any combination thereof.

The assembly body 106 further includes a second portion, for example a feed 140. The feed 140 defines a feed longitudinal axis 142 and a feed body 144, the feed body 144 including a portion 146 that is elongate along the feed longitudinal axis 142. The feed 140 may further define a first feed pivot axis 148, a second feed pivot axis 150, and a third feed pivot axis 152.

According to one aspect of the disclosure, each of the first feed pivot axis 148, the second feed pivot axis 150, and the third feed pivot axis 152 is offset with respect to the others of the first feed pivot axis 148, the second feed pivot axis 150, and the third feed pivot axis 152 such that each of the first feed pivot axis 148, the second feed pivot axis 150, and the third feed pivot axis 152 is non-coincident with respect to the others of the first feed pivot axis 148, the second feed pivot axis 150, and the third feed pivot axis 152. According to another aspect of the disclosure, each of the first feed pivot axis 148, the second feed pivot axis 150, and the third feed pivot axis 152 is offset with respect to the others of the first feed pivot axis 148, the second feed pivot axis 150, and the third feed pivot axis 152 such that each of the first feed pivot axis 148, the second feed pivot axis 150, and the third feed pivot axis 152 is perpendicular to the others of the first feed pivot axis 148, the second feed pivot axis 150, and the third feed pivot axis 152.

The feed 140 may be coupled to the boom 120 such that the feed body 144 is pivotable relative to the boom 120 about the first feed pivot axis 148, the feed body 144 is pivotable relative to the boom 120 about the second feed pivot axis 150, the feed body is pivotable relative to the boom 120 about the third feed pivot axis 152, the portion 146 is translatable relative to the boom 120 along the feed longitudinal axis 142, or any combination thereof.

The assembly body 106 may further include a third portion, for example a drifter 160. The drifter 160 defines a drifter axis 162 and a drifter body 164. The drifter body 164 includes a drill bit 166 that is elongate along the drifter axis 162. According to one aspect of the disclosure, the drifter 160 is coupled to the feed 140 such that the drill bit 166 is rotatable relative to the feed 140 about the drifter axis 162, the drill bit 166 is translatable relative to the feed 140 along the drifter axis 162, or both.

According to one aspect of the disclosure, the drifter body 164 includes a motor 168, for example a hydraulic motor, that is configured to rotate the drill bit 166 about the drifter axis 162. The motor 168 translationally secured relative to the drill bit 166 such that as the drill bit 166 translates relative to the feed 140 along the drifter axis 162, the motor 168 also translates relative to the feed 140 along the drifter axis 162.

The drilling assembly 100, according to one aspect of the disclosure, may further include a plurality of hinges 180 and a plurality of actuators 182, each of the plurality of hinges 180 defines one of the axes, for example one of the pivot or longitudinal axes, and each of the plurality of actuators 182 is configured to move, for example pivot or translate, a portion of the drilling assembly 100.

Referring to FIGS. 1 and 2, movement of the drilling assembly 100 is controlled by the controller 20. The controller 20 may be configured to receive a command signal from the control assembly 200, convert the command signal into an output signal that is received by the drilling assembly 100, for example an actuator 182 of the drilling assembly. The output signal may direct a desired operating state of a component (not shown) of a hydraulic circuit, such as a valve, a pump, or other component, to allow the flow of hydraulics, typically from a pump, within the machine 10 to extend or contract the actuator 182, which results in the desired movement of at least a portion of the drilling assembly 100, for example pivoting the boom body 128 relative to the base 16 about the first boom pivot axis 130.

Referring to FIG. 3, the control assembly 200 includes a control assembly body 202 that includes a plurality of control mechanisms. According to one aspect of the disclosure, the control assembly 200 includes a first control mechanism 220, a second control mechanism 240, a third control mechanism 260, or any combination thereof. The control assembly body 202 may further include one or more video monitors 204 configured to display portions of the machine 10 and an emergency shut off switch 206 configured to cut power to portions of the machine 10, for example the drilling assembly 100.

Referring to FIG. 4, the first control mechanism 220 is configured to be actuated along a first direction D1, a second direction D2, a third direction D3, or any combination thereof. According to one aspect of the disclosure, the first direction D1 is defined by a first axis 222 and the second direction D2 is defined by a second axis 224. According to another aspect of the disclosure the third direction D3 may be defined by a third axis 226. The first direction D1, the second direction D2, the third direction D3, and any combination thereof may be a linear direction. The first direction D1, the second direction D2, the third direction D3, and any combination thereof may be a rotational direction, for example twisting the first control mechanism 220 about an axis of elongation of the first control mechanism 220. The first direction D1, the second direction D2, and the third direction D3, may include a combination of one or more linear directions and one or more rotational directions.

Each of the first direction D1, the second direction D2, and the third direction D3, according to one aspect of the disclosure, is offset with respect to the others of the first direction D1, the second direction D2, and the third direction D3 such that each of the first direction D1, the second direction D2, and the third direction D3 is non-coincident with the others of the first direction D1, the second direction D2, and the third direction D3. According to one aspect of the disclosure the first direction D1 is offset with respect to at least one of the second direction D2 and the third direction D3 such that the first direction D1 is perpendicular to at least one of the second direction D2 and the third direction D3.

As shown in the illustrated embodiment, the first control mechanism 220 may be, for example, a first two axis joystick 228 including a first joystick body 230 including a first shaft 232 and a first head 234. The first control mechanism 220 is secured to the control assembly 200 such that the first shaft 232 is movable along the first direction D1, for example along the first axis 222, movable along the second direction D2, for example along the second axis 224, and movable in both the first direction D1 and the second direction D2 simultaneously, for example along an axis 236 that includes components of both the first direction D1 and the second direction D2.

The first control mechanism 220 may further include at least one input device 238, for example one or more buttons, levers, switches, sliders, combinations thereof, or any other input device known in the art that is movable, for example along the third direction D3. According to one aspect of the disclosure, the at least one input device 238 is carried by the first head 234 of the first control mechanism 220. The first control mechanism 220 may further be configured such that an operator is able to grip and actuate the first shaft 232 with one hand and actuate the at least one input device 238 with a finger, for example a thumb, of the hand gripping the first shaft 232.

Referring to FIG. 5, the second control mechanism 240 is configured to be actuated along a fourth direction D4, a fifth direction D5, a sixth direction D6, a seventh direction D7, or any combination thereof. According to one aspect of the disclosure, the fourth direction D4 is defined by a fourth axis 242 and the fifth direction D5 is defined by a fifth axis 244. According to another aspect of the disclosure the sixth direction D6 may be defined by a sixth axis 246 and the seventh direction D7 may be defined by a seventh axis 247.

According to one aspect of the disclosure the second control mechanism 240 is configured such that each of the fourth direction D4, the fifth direction D5, and the sixth direction D6, is offset with respect to the others of the fourth direction D4, the fifth direction D5, and the sixth direction D6 such that each of the fourth direction D4, the fifth direction D5, and the sixth direction D6 is non-coincident with the others of the fourth direction D4, the fifth direction D5, and the sixth direction D6. According to one aspect of the disclosure, the second control mechanism is further configured such that the fourth direction D5 is offset with respect to at least one of the fifth direction D5 and the sixth direction D6 such that the fourth direction D4 is perpendicular to at least one of the fifth direction D5 and the sixth direction D6.

According to one aspect of the disclosure the second control mechanism 240 is further configured such that the seventh direction D7 is offset with respect to each of the fourth direction D4, the fifth direction D5, and the sixth direction D6 such that the seventh direction D7 is non-coincident with each of the fourth direction D4, the fifth direction D5, and the sixth direction D6.

As shown in the illustrated embodiment, the second control mechanism 240 may be, for example, a second two axis joystick 248 including a second joystick body 250 including a second shaft 252 and a second head 254. The second control mechanism 240 is secured to the control assembly 200 such that the second shaft 252 is movable along the fourth direction D4, for example along the fourth axis 242, movable along the fifth direction D5, for example along the fifth axis 244, and movable in both the fourth direction D5 and the fifth direction D5 simultaneously, for example along an axis 256 that includes components of both the fourth direction D4 and the fifth direction D5.

The second control mechanism 240 may further include at least one input device 258, for example one or more buttons, levers, switches, sliders, combinations thereof, or any other input device known in the art that each is movable, for example along one of the sixth direction D6 and the seventh direction D7. According to one aspect of the disclosure, the at least one input device 258 is carried by the second head 254 of the second control mechanism 240. The second control mechanism 240 may further be configured such that an operator is able to grip and actuate the second shaft 252 with one hand and actuate the at least one input device 258 with a finger, for example a thumb, of the hand gripping the second shaft 252.

Referring to FIG. 6, the third control mechanism 260 is configured to be actuated along an eighth direction D8, a ninth direction D9, a tenth direction D10, or any combination thereof. According to one aspect of the disclosure, the eighth direction D8 is defined by an eighth axis 262 and the ninth direction D9 is defined by a ninth axis 264. According to another aspect of the disclosure the tenth direction D10 may be defined by a tenth axis 266.

Each of the eighth direction D8, the ninth direction D9, and the tenth direction D10, according to one aspect of the disclosure, is offset with respect to the others of the eighth direction D8, the ninth direction D9, and the tenth direction D10 such that each of the eighth direction D8, the ninth direction D9, and the tenth direction D10 is non-coincident with the others of the eighth direction D8, the ninth direction D9, and the tenth direction D10. According to one aspect of the disclosure the eighth direction D8 is offset with respect to at least one of the ninth direction D9 and the tenth direction D10 such that the eighth direction D8 is perpendicular to at least one of the ninth direction D9 and the tenth direction D10.

As shown in the illustrated embodiment, the third control mechanism 260 may be, for example, a third two axis joystick 268 including a third joystick body 270 including a third shaft 272 and a third head 274. The third control mechanism 260 is secured to the control assembly 200 such that the third shaft 272 is movable along the eighth direction D8, for example along the eighth axis 262, movable along the ninth direction D9, for example along the ninth axis 264, and movable in both the eighth direction D8 and the ninth direction D9 simultaneously, for example along an axis 276 that includes components of both the eighth direction D8 and the ninth direction D9.

The third control mechanism 260 may further include at least one input device 278, for example one or more buttons, levers, switches, sliders, combinations thereof, or any other input device known in the art, that is movable, for example along the tenth direction D10. According to one aspect of the disclosure, the at least one input device 278 is carried by the third head 274 of the third control mechanism 260. The third control mechanism 260 may further be configured such that an operator is able to grip and actuate the third shaft 272 with one hand and actuate the at least one input device 278 with a finger, for example a thumb, of the hand gripping the third shaft 272.

According to one aspect of the disclosure, the control assembly 200 is configured to initiate or terminate additional functions of the machine 10 that do not relate to movement of the drilling assembly 100. For example, the control assembly 200 may be configured to initiate and terminate an air exhaust, a water jet, or a mist spray, for example in proximity to the drill bit 166. The additional functions of the machine 10 may be initiated and terminated, for example, by pressing one or more of the at least one input devices 278 carried by the third control mechanism 260.

Referring to FIGS. 2 and 3, according to one aspect of the disclosure, the control assembly 200 is operably connected to the drilling assembly 100 such that the first control mechanism 220 is operably connected to the boom 120, the second control mechanism 240 is operably connected to the feed 140, the third control mechanism 260 is operably connected to the drifter 160, or any combination thereof.

Referring to FIGS. 2 and 4, the first control mechanism 220 may be operably connected to the boom 120 such that actuation of the first control mechanism 220 along the first direction D1 pivots the boom body 128 relative to the base 16 about the first boom pivot axis 130, actuation of the first control mechanism 220 along the second direction D2 pivots the boom body 128 relative to the base 16 about the second boom pivot axis 132, actuation of the first control mechanism 220 along the third direction D3 translates the boom distal end 124 relative to the base 16 along the boom longitudinal axis 126, or any combination thereof.

According to one aspect of the disclosure, actuating the first control mechanism 220 along the first direction D1 includes tilting the first shaft 232 at least partially along the first axis 222, actuating the first control mechanism 220 along the second direction D2 includes titling the first shaft 232 at least partially along the second axis 224, actuating the first control mechanism 220 along the third direction D3 includes pushing one of the at least one input devices 238, or any combination thereof.

Referring to FIGS. 2 and 5, the second control mechanism 240 may be operably connected to the feed 140 such that actuation of the second control mechanism 240 along the fourth direction D4 pivots the feed body 144 relative to the boom 120 about the first feed pivot axis 148, actuation of the second control mechanism 240 along the fifth direction D5 pivots the feed body 144 relative to the boom 120 about the second feed pivot axis 150, actuation of the second control mechanism 240 along the sixth direction D6 pivots the feed body 144 relative to the boom 120 about the third feed pivot axis 152, actuation of the second control mechanism 240 along the seventh direction D7 translates at least a portion of the feed body 144, for example the portion 146, relative to the boom 120 along the feed longitudinal axis 142, or any combination thereof.

According to one aspect of the disclosure, actuating the second control mechanism 240 along the fourth direction D4 includes tilting the second shaft 252 at least partially along the fourth axis 242, actuating the second control mechanism 240 along the fifth direction D5 includes titling the second shaft 252 at least partially along the fifth axis 244, actuating the second control mechanism 240 along the sixth direction D6 includes pushing one of the at least one input devices 258, actuating the second control mechanism 240 along the seventh direction D7 includes pushing another of the at least one input devices 258, or any combination thereof.

Referring to FIGS. 2 and 6, the third control mechanism 260 may be operably connected to the drifter 160 such that actuation of the third control mechanism 260 along the eighth direction D8 rotates the drill bit 166 relative to the feed 140 about the drifter axis 162, actuation of the third control mechanism 260 along the ninth direction D9 translates the drill bit 166 relative to the feed 140 along the drifter axis 162, or both.

According to one aspect of the disclosure, actuating the third control mechanism 260 along the eighth direction D8 includes tilting the third shaft 272 at least partially along the eighth axis 262, actuating the third control mechanism 260 along the ninth direction D9 includes titling the third shaft 272 at least partially along the ninth axis 264, actuating the third control mechanism 260 along the tenth direction D10 includes pushing one of the at least one input devices 278, or any combination thereof.

INDUSTRIAL APPLICABILITY

Referring to FIGS. 1-6, according to one aspect of the disclosure, the control assembly 200 is configured to pivot the boom body 128 about the first boom pivot axis 130, pivot the boom body 128 about the second boom pivot axis 132, translate the boom body 128 along the boom longitudinal axis 126, or any combination thereof in response to an input from the first control mechanism 220, and the control assembly 200 is further configured to simultaneously pivot the feed body 144 about the first feed pivot axis 148, pivot the feed body 144 about the second feed pivot axis 150, pivot the feed body 144 about the third feed pivot axis 152, translate a portion of the feed body 144, for example the portion 146, along the feed longitudinal axis 142, or any combination thereof in response to an input from the second control mechanism 240. The input from the first control mechanism 220 may include, for example, actuation of the first control mechanism 220 in the first direction D1, the second direction D2, the third direction D3, or any combination thereof. The input from the second control mechanism 240 may include, for example, actuation of the second control mechanism 240 in the fourth direction D4, the fifth direction D5, the sixth direction D6, the seventh direction D7, or any combination thereof.

According to one aspect of the disclosure, the control assembly 200 is configured such that the first control mechanism 220 is devoid of a direction that the first control mechanism 220 may be actuated in to move, for example pivot or translate, the feed body 144 relative to the boom 120. According to one aspect of the disclosure, the control assembly 200 is configured such that the second control mechanism 240 is devoid of a direction that the second control mechanism 240 may be actuated in to move, for example pivot or translate, the boom body 128 relative to the base 16.

According to one aspect of the disclosure, a method for operating the machine 10 includes the steps of: actuating the first control mechanism 220 of the control assembly 200 in a first direction D1, thereby pivoting the boom body 128 about the first boom pivot axis 130, actuating the first control mechanism 220 in a second direction D2, thereby pivoting the boom body 128 about the second boom pivot axis 132, actuating the second control mechanism 240 of the control assembly 200 in the fourth direction D4, thereby pivoting the feed body 144 relative to the boom body 128 about the first feed pivot axis 148, actuating the second control mechanism 240 in the fifth direction D5, thereby pivoting the feed body 144 relative to the boom body 128 about the second feed pivot axis 150, wherein at least one of the actuating the first control mechanism 220 steps is performed simultaneously with at least one of the actuating the second control mechanism 240 steps.

According to one aspect of the disclosure, the method may further include the step of actuating the first control mechanism 220 in the third direction D3, thereby translating the boom body 128 along the boom longitudinal axis 126. The step of actuating the first control mechanism 220 in the third direction D3 may be performed separate from each of the other steps of the method, or may be performed simultaneously with at least one of the other steps of the method.

According to one aspect of the disclosure, the method may further include the step of actuating the second control mechanism 240 in the sixth direction D6, thereby pivoting the feed body 144 relative to the boom body 128 along the third feed pivot axis 152. The step of actuating the second control mechanism 240 in the sixth direction D6 may be performed separate from each of the other steps of the method, or may be performed simultaneously with at least one of the other steps of the method.

According to one aspect of the disclosure, the method may further include the step of actuating the second control mechanism 240 in the seventh direction D7, thereby translating the feed body 144 relative to the boom body 128 along the feed longitudinal axis 142. The step of actuating the second control mechanism 240 in the seventh direction D7 may be performed separate from each of the other steps of the method, or may be performed simultaneously with at least one of the other steps of the method.

The machine 10 may be configured for use at a drilling site and to be operated by an operator to drill one or more holes in a surface, such as a rock wall. The assembly distal end 104 of the drilling assembly 100 may be defined by the drill bit 166 which is configured to drill one or more holes in the surface. Through inputs into the control assembly 200 the drilling assembly 100, specifically the drill bit 166 can be moved from an initial position to a drilling position. Previous machines are not configured to allow the simultaneous movement in multiple directions, or multiple degrees of freedom. For example, an operator of a previous machine moving a drill bit from an initial position to a drilling position would require moving a first portion of the machine, and then as a separate step, moving a second portion of the machine. The machine 10 is configured such that the both the boom body 128 and the feed body 144 are movable simultaneously through simultaneous inputs into both the first control mechanism 220 and the second control mechanism 240.

According to one aspect of the disclosure, the drilling assembly 100 is configured such that the drifter 160, including the drill bit 166, is carried by the feed 140 such that movement of the feed body 144 also moves the drill bit 166. For example when the feed body 144 pivots about the first feed pivot axis 148, the drill bit 166 also pivots about the first feed pivot axis 148. The drilling assembly may further be configured such that the feed 140 is carried by the boom 120 such that movement of the boom body 128 also moves both the feed body 144 and the drill bit 166. For example, when the boom body 128 pivots about the first boom pivot axis 130, the drill bit 166 also pivots about the first boom pivot axis 130.

Thus, to move the drill bit 166 from the initial position to the drilling position, an operator may actuate the first control mechanism 220, for example in the first direction D1 thereby pivoting the boom body 128 about the first boom pivot axis 130, and may simultaneously actuate the second control mechanism 240, for example in the fourth direction D4 thereby pivoting the feed body 144 about the first feed pivot axis 148. This simultaneous actuating of the first control mechanism 220 and the second control mechanism 240 results in the drill bit 166 simultaneously pivoting about the first boom pivot axis 130 and the first feed pivot axis 148.

The simultaneous movement of the drill bit 166 described above may lead to faster movement of the drill bit 166 from the initial position to the drilling position than first moving a first portion of a drilling assembly, and then after moving the first portion, separately moving a second portion of the drilling assembly.

According to one aspect of the disclosure, the machine 10 may include an electrohydraulic system that includes electric signals sent by, for example, the controller 20, and the electric signals drive electrohydraulic valves, the output of which is directed to components of the drilling assembly 100, for example one or more of the plurality of actuators 182 or the motor 168.

It will be appreciated that the foregoing description provides examples of the disclosed system and technique. However, it is contemplated that other implementations of the disclosure may differ in detail from the foregoing examples. All references to the disclosure or examples thereof are intended to reference the particular example being discussed at that point and are not intended to imply any limitation as to the scope of the disclosure more generally. All language of distinction and disparagement with respect to certain features is intended to indicate a lack of preference for those features, but not to exclude such from the scope of the disclosure entirely unless otherwise indicated.

Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. 

We claim:
 1. A drilling system comprising: a base; a drilling assembly coupled to the base, the drilling assembly including: a boom defining a first boom pivot axis and a second boom pivot axis offset with respect to the first boom pivot axis, the boom including a boom body, and the boom being coupled to the base such that: 1) the boom body is pivotable relative to the base about the first boom pivot axis and 2) the boom body is pivotable relative to the base about the second boom pivot axis; and a feed defining a first feed pivot axis and a second feed pivot axis offset with respect to the first feed pivot axis, the feed including a feed body, the feed being coupled to the boom such that: 1) the feed body is pivotable relative to the boom about the first feed pivot axis and 2) the feed body is pivotable relative to the boom about the second feed pivot axis; and a control assembly operably connected to the drilling assembly, the control assembly including: a first control mechanism configured to be actuated in a first direction and a second direction, the first control mechanism operably connected to the boom such that: 1) actuation of the first control mechanism along the first direction pivots the boom body relative to the base about the first boom pivot axis and 2) actuation of the first control mechanism along the second direction pivots the boom body relative to the base about the second boom pivot axis; and a second control mechanism configured to be actuated in a third direction and a fourth direction, the second control mechanism operably connected to the feed such that: 1) actuation of the second control mechanism along the third direction pivots the feed body relative to the boom about the first feed pivot axis and 2) actuation of the second control mechanism along the fourth direction pivots the feed body relative to the boom about the second feed pivot axis, wherein the control assembly is configured to simultaneously 1) pivot the boom body about at least one of the first boom pivot axis and the second boom pivot axis in response to an input from the first control mechanism, and 2) pivot the feed body about at least one of the first feed pivot axis and the second feed pivot axis in response to an input from the second control mechanism.
 2. The drilling system of claim 1, wherein: the boom defines a boom proximal end, a boom distal end, and a boom longitudinal axis, the boom body extends from the boom proximal end to the boom distal end such that the boom body is elongate along the boom longitudinal axis, the boom distal end is translatable relative to the base along the boom longitudinal axis; and the first control mechanism is configured to be actuated in a fifth direction such that actuation of the first control mechanism in the fifth direction translates the boom body relative to the base along the boom longitudinal axis.
 3. The drilling system of claim 2, wherein: the feed defines a third feed pivot axis offset to both the first feed pivot axis and the second feed pivot axis, and the feed further defines a feed longitudinal axis, the feed body includes a portion that is elongate along the feed longitudinal axis; and the second control mechanism is configured to be actuated in a sixth direction such that actuation of the second control mechanism in the sixth direction pivots the feed body relative to the boom about the third feed pivot axis, and the second control mechanism is further configured to be actuated in a seventh direction such that actuation of the second control mechanism in the seventh direction translates the portion relative to the boom along the feed longitudinal axis.
 4. The drilling system of claim 3, wherein: the drilling assembly further includes a drifter that defines a drifter axis, the drifter includes a drifter body that has a drill bit elongate along the drifter axis, the drifter being coupled to the feed such that: 1) the drill bit is rotatable relative to the feed about the drifter axis and 2) the drill bit is translatable relative to the feed along the drifter axis; and the control assembly further includes a third control mechanism configured to be actuated in an eighth direction and a ninth direction, the third control operably connected to the drifter such that: 1) actuation of the third control mechanism along the eighth direction rotates the drifter body relative to the feed about the drifter axis and 2) actuation of the third control mechanism along the ninth direction translates the drifter body relative to the feed along the drifter axis.
 5. The drilling system of claim 4, wherein the first control mechanism is devoid of a direction that the first control mechanism may be actuated in to pivot the feed body relative to the boom.
 6. The drilling system of claim 5, wherein the second control mechanism is devoid of a direction that the second control mechanism may be actuated in to pivot the boom body relative to the base.
 7. The drilling system of claim 6, wherein the first control mechanism is a first two axis joystick, and the second control mechanism is a second two axis joystick.
 8. The drilling system of claim 7, wherein the third control mechanism is a third two axis joystick, and the third two axis joystick is devoid of both: 1) a direction that the third control mechanism may be actuated in to pivot the boom body relative to the base and 2) a direction that the third control mechanism may be actuated in to pivot the feed body relative to the boom.
 9. A drilling system comprising: a base; a drilling assembly coupled to the base, the drilling assembly including: a boom defining a boom proximal end, a boom distal end, a boom pivot axis and a boom longitudinal axis offset with respect to the boom pivot axis, the boom including a boom body extending from the boom proximal end to the boom distal end such that the boom body is elongate along the boom longitudinal axis, the boom being coupled to the base such that: 1) the boom body is pivotable relative to the base about the boom pivot axis and 2) the distal end of the boom body is translatable relative to the base along the boom longitudinal axis; and a feed defining a feed pivot axis and a feed longitudinal axis offset with respect to the feed pivot axis, the feed including a feed body including a portion that is elongate along the feed longitudinal axis, the feed being coupled to the boom such that: 1) the feed body is pivotable relative to the boom about the feed pivot axis and 2) the feed body is translatable relative to the boom along the feed longitudinal axis; and a control assembly operably connected to the drilling assembly, the control assembly including: a first control mechanism configured to be actuated in a first direction and a second direction, the first control mechanism operably connected to the boom such that: 1) actuation of the first control mechanism along the first direction pivots the boom body relative to the base about the boom pivot axis and 2) actuation of the first control mechanism along the second direction translates the boom body relative to the base along the boom longitudinal axis; and a second control mechanism configured to be actuated in a third direction and a fourth direction, the second control mechanism operably connected to the feed such that: 1) actuation of the second control mechanism along the third direction pivots the feed body relative to the boom about the feed pivot axis and 2) actuation of the second control mechanism along the fourth direction translates the feed body relative to the boom along the feed longitudinal axis, wherein the control assembly is configured to simultaneously 1) pivot the boom body about the boom pivot axis or translate the boom body along the boom longitudinal axis in response to an input from the first control mechanism, and 2) pivot the feed body about the feed pivot axis or translate the feed body along the feed longitudinal axis in response to an input from the second control mechanism.
 10. The drilling system of claim 9, wherein the boom pivot axis is a first boom pivot axis, the boom defines a second boom pivot axis offset with respect to the first boom pivot axis, and the first control mechanism is configured to be actuated in a fifth direction such that actuation of the first control mechanism in the fifth direction pivots the boom body relative to the base about the second boom pivot axis.
 11. The drilling system of claim 10, wherein the feed pivot axis is a first feed pivot axis, the feed defines a second feed pivot axis offset with respect to the first feed pivot axis, the feed further defines a third feed pivot axis offset with respect to both the first feed pivot axis and the second feed pivot axis, the second control mechanism is configured to be actuated in a sixth direction such that actuation of the second control mechanism in the sixth direction pivots the feed body relative to the boom about the second feed pivot axis, and the second control mechanism is further configured to be actuated in a seventh direction such that actuation of the second control mechanism in the seventh direction pivots the feed body relative to the boom about the third feed pivot axis.
 12. The drilling system of claim 11, wherein: the drilling assembly further includes a drifter that defines a drifter axis, the drifter includes a drifter body that has a drill bit elongate along the drifter axis, the drifter being coupled to the feed such that: 1) the drill bit is rotatable relative to the feed about the drifter axis and 2) the drill bit is translatable relative to the feed along the drifter axis; and the control assembly further includes a third control mechanism configured to be actuated in an eighth direction and a ninth direction, the third control operably connected to the drifter such that: 1) actuation of the third control mechanism along the eighth direction rotates the drifter body relative to the feed about the drifter axis and 2) actuation of the third control mechanism along the ninth direction translates the drifter body relative to the feed along the drifter axis.
 13. The drilling system of claim 12, wherein the first control mechanism is devoid of a direction that the first control mechanism may be actuated in to pivot the feed body relative to the boom.
 14. The drilling system of claim 13, wherein the second control mechanism is devoid of a direction that the second control mechanism may be actuated in to pivot the boom body relative to the base.
 15. A method for operating a drilling system, the drilling system comprising a base, drilling assembly coupled to the base, and a control assembly operably connected to the drilling assembly, the drilling assembly including a boom and a feed, the boom defining a first boom pivot axis and a second boom pivot axis offset from the first boom pivot axis, the boom including a boom body, and the boom being coupled to the base such that the boom body is both pivotable relative to the base about the first boom pivot axis and pivotable relative to the base about the second boom pivot axis, the feed defining a first feed pivot axis and a second feed pivot axis that is offset to the first feed pivot axis, the feed including a feed body, the feed being coupled to the boom such that the feed body is both pivotable relative to the boom about the first feed pivot axis and pivotable relative to the boom about the second feed pivot axis, the method comprising the steps of: (a) actuating a first control mechanism of the control assembly in a first direction, thereby pivoting the boom body about the first boom pivot axis; (b) actuating the first control mechanism in a second direction, thereby pivoting the boom body about the second boom pivot axis; (c) actuating a second control mechanism of the control assembly in a third direction, thereby pivoting the feed body relative to the boom body about the first feed pivot axis; and (d) actuating the second control mechanism in a fourth direction, thereby pivoting the feed body relative to the boom body about the second feed pivot axis; wherein at least one of steps (a) and (c), steps (a) and (d), steps (b) and (c), and steps (b) and (d) are performed simultaneously.
 16. The method of claim 15, further comprising the step of: (e) actuating the first control mechanism in a fifth direction, thereby translating the boom body along a boom longitudinal axis that is offset from both the first boom pivot axis and the second boom pivot axis.
 17. The method of claim 16, further comprising the step of: (f) actuating the second control mechanism in a sixth direction, thereby pivoting the feed body relative to the boom body along a third pivot axis that is offset from both the first feed pivot axis and the second feed pivot axis.
 18. The method of claim 17, wherein steps (a), (b), (c), (d), (e), and (f) are performed simultaneously.
 19. The method of claim 16, further comprising the step of: (f) actuating the second control mechanism in a sixth direction, thereby translating the feed body relative to the boom body along a feed longitudinal axis that is offset from both the first feed pivot axis and the second feed pivot axis.
 20. The method of claim 19, wherein steps (a), (b), (c), (d), (e), and (f) are performed simultaneously. 